YASKAWA SERVOPACK Sigma 7W Series User manual

MANUAL NO. SIEP S800001 72B
1
2
3
4
5
6
7
Model: SGD7W-700
SGD7C-700
-7W/-7C SERVOPACK with
Hardware Option Specifications
HWBB Function
-7-Series AC Servo Drive
Product Manual
Selecting a SERVOPACK
SERVOPACK Installation
Safety Functions
Maintenance
Appendices
Basic Information on
SERVOPACKs
Wiring and Connecting
SERVOPACKs

Copyright © 2015 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.

iii
About this Manual
This manual describes the following two types of SERVOPACKs that are equipped with the HWBB
safety function.
•Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with MECHATROLINK-III Communications Refer-
ences HWBB Option Specifications (SGD7W-700)
•Σ-7-Series AC Servo Drive Σ-7C SERVOPACKs (SGD7C-700)
It describes the specifications of Σ-7W/Σ-7C SERVOPACKs that are different from the Σ-7W/Σ-7C
SERVOPACKs that do not have the HWBB function.
Refer to the following manuals for your SERVOPACK for other product information.
Σ-7-Series Σ-7W SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP
S800001 29)
Σ-7-Series Σ-7C SERVOPACK Product Manual (Manual No.: SIEP S800002 04)
Σ-7-Series Σ-7C SERVOPACK Troubleshooting Manual (Manual No.: SIEP S800002 07)
Read and understand this manual and the above manual to ensure correct usage of the Σ-7-Series
AC Servo Drives.
Keep this manual and the above manuals in a safe place so that they can be referred to whenever
necessary.
Finding Information
Information on these SERVOPACKs is provided in different manuals.
Use the following table to find what information is provided in this manual and what information is
provided in the other manuals given in the table.
Σ
-7-Series
Σ
-7W SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001
29)
Σ
-7-Series
Σ
-7C SERVOPACK Product Manual (Manual No.: SIEP S800002 04)
Item This
Manual
Σ-7W SERVOPACK
with MECHATROLINK-III
Communications Refer-
ences Product Manual
(Manual No.:
SIEP S800001 29)
Σ-7C SERVOPACK
Product Manual
(Manual No.:
SIEP S800002 04)
Basic
Information on
SERVOPACKs
The Σ-7 Series −1.1 1.1
SERVOPACKs with HWBB Function 1.1 −−
Interpreting the Nameplate 1.2 −−
Part Names 1.3 −−
Model Designa-
tions
Interpreting
SERVOPACK
Model Numbers
1.4 −−
Interpreting Servo-
motor Model Num-
bers
−1.4.2 1.4.2
Combinations of SERVOPACKs and
Servomotors −1.5 1.11
Functions −1.6 1.13
Continued on next page.

iv
Selecting a
SERVOPACK
Ratings and
Specifications
Ratings −2.1.1 1.5.1
SERVOPACK
Overload Protec-
tion Characteris-
tics
−2.1.2 1.5.2
General Specifica-
tions 2.1 −−
Block Diagrams 2.2 −−
External Dimensions 2.3 −−
Examples of Standard Connections
between SERVOPACKs and Periph-
eral Devices
2.4 −−
SERVOPACK
Installation
EMC Installation Conditions 3.1 −−
Other installation information −Chapter 3 Chapter 2
Wiring and
Connecting
SERVOPACKs
Wiring and
Connecting
SERVOPACKs
General Precau-
tions 4.1 −−
Countermeasures
against Noise −4.1.2 3.1.2
Grounding −4.1.3 3.1.3
Basic Wiring Diagrams 4.2 −−
Wiring the Power Supply to the
SERVOPACK −4.3 3.5
Wiring Servomotors −4.4 3.4
I/O Signal Connections −4.5 3.6, 3.7
Connecting Safety Function Signals 4.3 −−
Connecting MECHATROLINK Com-
munications Cables −4.6 3.8
Connecting the Other Connectors −4.7 3.9
Basic Functions That Require Setting before Operation −Chapter 5 −
Application Functions −Chapter 6 −
Preparations −− Chapter 4
Device-Specific Settings −− Chapter 5
Trial Operation and Actual Operation −Chapter 7 Chapter 6
Creating User Programs −− Chapter 7
Tuning −Chapter 8 Chapter 8
Monitoring −Chapter 9 Chapter 9
Safety Functions Chapter 5 −−
Continued on next page.
Continued from previous page.
Item This
Manual
Σ-7W SERVOPACK
with MECHATROLINK-III
Communications Refer-
ences Product Manual
(Manual No.:
SIEP S800001 29)
Σ-7C SERVOPACK
Product Manual
(Manual No.:
SIEP S800002 04)

v
*Refer to the following manual.
Σ-7-Series Σ-7C SERVOPACK Troubleshooting Manual (Manual No.: SIEP S800002 07)
Maintenance
Inspections and Part Replacement −10.1 10.1
Alarm Displays
Alarms Related to
the HWBB Func-
tion
6.1.1 −
*
Other Alarms −10.2.1
Troubleshooting
Alarms Related to
the HWBB Func-
tion
6.1.2 −
Troubleshooting
Other Alarms −10.2.2
Resetting Alarms −10.2.3
Displaying the
Alarm History −10.2.4
Clearing the Alarm
History −10.2.5
Resetting Motor
Type Alarms −10.2.6
Troubleshoot-
ing Based on
the Operation
and Conditions
of the Servo-
motor
Troubleshooting
Problems Related
to the HWBB
Function
6.2 −
Troubleshooting
other problems −10.5
Parameter Lists −Chapter 11 Chapter 11
Appendices
Interpreting
Panel Displays
Panel Display
during the HWBB
State
7.1 −−
Other Panel Dis-
play −12.1 −
Corresponding
SERVOPACK
and SigmaWin+
Function
Names
Corresponding
SERVOPACK Util-
ity Function Names
−12.2.1 −
Corresponding
Monitor Display
Function Names
Related to the
HWBB Function
7.2 −−
Other Correspond-
ing SERVOPACK
Monitor Display
Function Names
−12.2.2 −
Continued from previous page.
Item This
Manual
Σ-7W SERVOPACK
with MECHATROLINK-III
Communications Refer-
ences Product Manual
(Manual No.:
SIEP S800001 29)
Σ-7C SERVOPACK
Product Manual
(Manual No.:
SIEP S800002 04)

vi
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
ManualsCatalogs
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog
Machine Controllers

Σ-7-Series
Catalog
Servo Drives
Machine Controllers
SERVOPACKs: Σ-7Sand Σ-7W
SERVOPACKswith Built-in Controllers: Σ-7C
Servomotors
Other Documents

Built-in
Function
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals

Σ-7-Series
Σ-7S/Σ-7W/Σ-7C
SERVOPACK
Hardware Option
Product Manuals
(thismanual)

Option
Module
User’s
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
Option
Module
User’s
Manuals
Σ-7-Series
Servomotor
Product
Manuals
Σ-7-Series
Σ-7C
SERVOPACK
Product
Manual

Σ-7-Series
Σ-7C
SERVOPACK
Troubleshooting
Manual

Enclosed
Documents

Enclosed
Documents

Built-in
Function
Manuals

Enclosed
Documents
Σ-7-Series
Peripheral
Device
Selection
Manual
Σ-7-Series
Engineering
Tool
Operation
Manuals
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manuals

vii
Classification Document Name Document No. Description

Machine Controller and
Servo Drive
General Catalog
Machine Controller and
AC Servo Drive
Solutions Catalog
KAEP S800001 22
Describes the features and applica-
tion examples for combinations of
MP3000-Series Machine Control-
lers and Σ-7-Series AC Servo
Drives.

MP3300 Catalog
Machine Controller
MP3300 KAEP C880725 03
Provides detailed information on
MP3300 Machine Controllers,
including features and specifica-
tions.

Σ-7-Series Catalog
AC Servo Drives
Σ-7 Series KAEP S800001 23
Provides detailed information on Σ-
7-Series AC Servo Drives, including
features and specifications.

Built-in Function Manuals
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Motion Control
User’s Manual
SIEP S800002 03
Provides detailed information on
the specifications, system configu-
ration, and application methods of
the Motion Control Function Mod-
ules (SVD, SVC4, and SVR4) for Σ-
7-Series Σ-7C SERVOPACKS.
Machine Controller
MP3000 Series
Communications
User’s Manual
SIEP C880725 12
Provides detailed information on
the specifications, system configu-
ration, and communications con-
nection methods for the Ethernet
communications that are used with
MP3000-Series Machine Control-
lers and Σ-7-Series Σ-7C SERVO-
PACKs.

Option Module
User’s Manuals
Machine Controller
MP2000 Series
Communication Module
User’s Manual
SIEP C880700 04
Provide detailed information on the
specifications and communica-
tions methods for the Communica-
tions Modules that can be mounted
to MP3000-Series Machine Con-
trollers and Σ-7-Series Σ-7C
SERVOPACKs.
Machine Controller
MP2000 Series
262IF-01 FL-net
Communication Module
User’s Manual
SIEP C880700 36
Machine Controller
MP2000 Series
263IF-01 EtherNet/IP
Communication Module
User’s Manual
SIEP C880700 39
Machine Controller
MP2000 Series
I/O Module
User’s Manual
SIEP C880700 34
Provide detailed information on the
specifications and communica-
tions methods for the I/O Modules
that can be mounted to MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP2000 Series
Analog Input/Analog Output
Module AI-01/AO-01
User’s Manual
SIEP C880700 26
Machine Controller
MP2000 Series
Counter Module CNTR-01
User’s Manual
SIEP C880700 27
Continued on next page.

viii

Enclosed Documents
Σ-7-Series AC Servo Drive
Σ-7S and Σ-7W SERVOPACK
Safety Precautions
TOMP C710828 00
Provides detailed information for
the safe usage of Σ-7-Series
SERVOPACKs.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Safety Precautions
Option Module
TOBP C720829 00 Provides detailed information for
the safe usage of Option Modules.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Command Option Module
TOBP C720829 01
Provides detailed procedures for
installing the Command Option
Module in a SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Fully-closed Module
TOBP C720829 03
Provides detailed procedures for
installing the Fully-closed Module in
a SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Safety Module
TOBP C720829 06
Provides detailed procedures for
installing the Safety Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
INDEXER Module
TOBP C720829 02
Provides detailed procedures for
installing the INDEXER Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
DeviceNet Module
TOBP C720829 07
Provides detailed procedures for
installing the DeviceNet Module in a
SERVOPACK.

Σ-7-Series
Σ-7C SERVOPACK
Product Manual
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Product Manual
SIEP S800002 04
Provides detailed information on
selecting Σ-7-Series Σ-7C SERVO-
PACKs; installing, connecting, set-
ting, testing in trial operation, and
tuning Servo Drives; writing, moni-
toring, and maintaining programs;
and other information.

Σ-7-Series
Σ-7C SERVOPACK
Troubleshooting
Manual
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Troubleshooting Manual
SIEP S800002 07
Provides detailed troubleshooting
information for Σ-7-Series Σ-7C
SERVOPACKs.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

ix

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 28
Provide detailed information on
selecting Σ-7-Series SERVO-
PACKs and information on install-
ing, connecting, setting, performing
trial operation for, tuning, and mon-
itoring the Servo Drives.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-II
Communications References
Product Manual
SIEP S800001 27
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
Analog Voltage/Pulse Train
References
Product Manual
SIEP S800001 26
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with INDEXER Module
Product Manual
SIEP S800001 64
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with DeviceNet Module
Product Manual
SIEP S800001 70
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 29

Σ-7-Series
Σ-7S/Σ-7W/Σ-7C
SERVOPACK with
Hardware Option
Specifications
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S/Σ-7W SERVOPACK with
Hardware Option Specifica-
tions
Dynamic Brake
Product Manual
SIEP S800001 73
Provides detailed information on
Hardware Options for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7W/Σ-7C SERVOPACK with
Hardware Option Specifica-
tions HWBB Function
Product Manual
This manual
(SIEP S800001 72)
Σ-7-Series
Σ-7S/Σ-7W SERVOPACK
FT/EX
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for Index-
ing Application
Product Manual
SIEP S800001 84
Provides detailed information on
the FT/EX Option for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for Track-
ing Application
Product Manual
SIEP S800001 89
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Application with
Special Motor,
SGM7D Motor
Product Manual
SIEP S800001 91
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

x
Option Module
User’s Manual
AC Servo Drives
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
User’s Manual
Safety Module
SIEP C720829 06
Provides details information
required for the design and mainte-
nance of a Safety Module.
Enclosed Documents
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Provides detailed information for
the safe usage of Rotary Servomo-
tors and Direct Drive Servomotors.
AC Servomotor
Linear ΣSeries
Safety Precautions
TOBP C230800 00
Provides detailed information for
the safe usage of Linear Servomo-
tors.
Σ-7-Series
Servomotor
Product Manuals
Σ-7-Series AC Servo Drive
Rotary Servomotor
Product Manual
SIEP S800001 36
Provide detailed information on
selecting, installing, and connecting
the Σ-7-Series Servomotors.
Σ-7-Series AC Servo Drive
Linear Servomotor
Product Manual
SIEP S800001 37
Σ-7-Series AC Servo Drive
Direct Drive Servomotor
Product Manual
SIEP S800001 38
Σ-7-Series
Peripheral Device
Selection Manual
Σ-7-Series AC Servo Drive
Peripheral Device
Selection Manual
SIEP S800001 32 Describes the peripheral devices
for a Σ-7-Series Servo System.
Σ-7-Series
MECHATROLINK
Communications
Command Manuals
Σ-7-Series AC Servo Drive
MECHATROLINK-II
Communications
Command Manual
SIEP S800001 30
Provides detailed information on
the MECHATROLINK-II communi-
cations commands that are used
for a Σ-7-Series Servo System.
Σ-7-Series AC Servo Drive
MECHATROLINK-III
Communications
Standard Servo Profile
Command Manual
SIEP S800001 31
Provides detailed information on
the MECHATROLINK-III communi-
cations standard servo profile com-
mands that are used for a Σ-7-
Series Servo System.
Programming
Manuals
Machine Controller
MP3000 Series
Ladder Programming
Manual
SIEP C880725 13
Provides detailed information on
the ladder programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Motion Programming
Manual
SIEP C880725 14
Provides detailed information on
the motion programming and
sequence programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description